#include <factor2Poses3d2obs.hpp>
Public Member Functions | |
| Factor2Poses3d2obs (const Mat4 &observation, const Mat4 &observation2, std::shared_ptr< Node > &nodeOrigin, std::shared_ptr< Node > &nodeTarget, const Mat6 &obsInf, Factor::robustFactorType robust_type=Factor::robustFactorType::QUADRATIC) | |
| Factor2Poses3d2obs (const SE3 &observation, const SE3 &observation2, std::shared_ptr< Node > &nodeOrigin, std::shared_ptr< Node > &nodeTarget, const Mat6 &obsInf, Factor::robustFactorType robust_type=Factor::robustFactorType::QUADRATIC) | |
| virtual void | evaluate_residuals () override |
| virtual void | evaluate_jacobians () override |
| virtual void | evaluate_chi2 () override |
| virtual void | print () const |
| MatRefConst | get_obs () const |
| VectRefConst | get_residual () const |
| MatRefConst | get_information_matrix () const |
| MatRefConst | get_jacobian ([[maybe_unused]]factor_id_t id=0) const |
 Public Member Functions inherited from mrob::Factor | |
| Factor (uint_t dim, uint_t allNodesDim, robustFactorType factor_type=QUADRATIC, uint_t potNumberNodes=5) | |
| matData_t | get_chi2 () const |
| virtual MatRefConst | get_jacobian ([[maybe_unused]] mrob::factor_id_t id=0) const =0 |
| factor_id_t | get_id () const |
| void | set_id (factor_id_t id) |
| uint_t | get_dim_obs () const |
| void | set_dim_obs (uint_t dim) |
| uint_t | get_all_nodes_dim () const |
| void | set_all_nodes_dim (uint_t dim) |
| const std::vector< std::shared_ptr< Node > > * | get_neighbour_nodes (void) const |
| matData_t | evaluate_robust_weight (matData_t u, matData_t params=0.0) |
Protected Attributes | |
| SE3 | Tobs_ |
| SE3 | Tobs2_ |
| Mat61 | r_ |
| SE3 | Tr_ |
| Mat6 | W_ |
| Mat< 6, 12 > | J_ |
| Protected Attributes inherited from mrob::Factor | |
| factor_id_t | id_ |
| std::vector< std::shared_ptr< Node > > | neighbourNodes_ |
| uint_t | dim_ |
| uint_t | allNodesDim_ |
| matData_t | chi2_ |
| robustFactorType | robust_type_ |
| matData_t | robust_weight_ |
Additional Inherited Members | |
| Public Types inherited from mrob::Factor | |
| enum | robustFactorType { QUADRATIC = 0, HUBER, CAUCHY, MCCLURE, RANSAC } |
Detailed Description
The Factor2Poses3d2obs is a variant of the 2 poses factor2Poses3d2 This is a special factor that connects 2 unknown poses, origin and target by two different observations. This is usually useful for calibration problems, where we need to estimate unknown poses of the form:
X * Obs1 * Y = Obs2
The state is an observer RBT, and as we have commented, we need to specify the two Nodes that the factor is connecting, which are provided by their shared_ptr's. We provide the node's Id to get the correspondent Jacobian
The convention in the library r = f(x) - z.
The residual is: r = Ln ( T_o * T_obs * T_t * T_obs2^-1)
Constructor functions will be overloaded to include the pointers of the nodes, The convention is from node origin, we observe node destination, such that: Factor2Poses3d(nodeOrigin, nodeTarget, ...
The observations relate a pair of nodes. The order matters, since this will affect the order on the Jacobian block matrix
Member Function Documentation
◆ evaluate_chi2()
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overridevirtual |
Evaluates chi2 of the current problem, with the given residuals. It may be required to evaluate_residuals() to obtain the new chi2 values This function MOST likely needs to evaluate residuals first, but evaluate_residuals does not necessarily requires to calculate chi2, that is why there are 2 functions.
Implements mrob::Factor.
◆ evaluate_jacobians()
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overridevirtual |
Evaluates residuals and Jacobians
Implements mrob::Factor.
◆ evaluate_residuals()
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overridevirtual |
Jacobians are not evaluated, just the residuals
Implements mrob::Factor.
◆ get_obs()
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inlinevirtual |
Return a Ref to a dynamic matrix, while the child matrix should declare all these variables as fixed size matrices, and ref takes care of doing the conversion with minimal temporary artifacts Observation can be a 3d point, a 3d pose (transformation 4x4), etc.
Implements mrob::Factor.
◆ get_residual()
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inlinevirtual |
Residual will always be a block vector
Implements mrob::Factor.
◆ print()
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virtual |
The print utility could be re-implemented on child classes if there are special needs
Reimplemented from mrob::Factor.
The documentation for this class was generated from the following files:
- src/FGraph/mrob/factors/factor2Poses3d2obs.hpp
- src/FGraph/factors/factor2Poses3d2obs.cpp
